Automatic cutting and forming control method for section of tunneling roadway

Abstract

The invention belongs to the technical field of intelligent control of tunneling equipment, and provides an automatic cutting and forming control method for a tunneling roadway section in order to solve the problem that technologies such as cutting arm motion control and machine body pose regulation cannot adapt to field working conditions in actual work. A roadway section is divided into a safety area, a warning area and a dangerous area, different control strategies are adopted when a cutting arm swings to different areas of the section, and the heading angle and the heading displacement of a machine body are regulated and controlled to be within the critical value range by comparing the heading angle and the heading displacement of the machine body with the critical heading angle and the critical heading displacement. According to the method and the device, the automatic cutting forming process of the tunnel section is achieved, the side-out or side-in operation is executed according to the position of the cutting arm, then the full-section one-time cutting roadway forming is achieved, through planning the side-in and side-out boundaries of the cutting head of the heading machine, over-excavation and under-excavation are avoided to the maximum extent, and the safety and the high efficiency of the automatic cutting forming process of the tunnel section are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent control of tunneling equipment, and in particular relates to an automatic cutting and forming control method for a tunneling tunnel section. Background Art

[0002] The intelligent technology level of tunneling equipment determines the construction effect of the intelligent tunneling working face. The cantilevered tunneling machine is the most common tunneling equipment in coal mine tunnel construction. How to safely and efficiently realize the automatic cutting and shaping control of the tunneling machine section has always been a technical difficulty for the tunneling machine to achieve full automation operation, and it is also a hot spot for industry research and application. For the one-time cutting and tunneling construction process of coal mines, the mine will select a suitable model of tunneling machine to ensure that the positioning and cutting range of the tunneling machine itself meets the tunnel section size requirements, providing an equipment foundation for realizing full-section automatic cutting and shaping control.

[0003] According to the cross-sectional dimensions of the tunnel, the dimensions of the cutting arm and cutting head of the roadheader, and the posture data provided by the integrated navigation system of the fuselage, the posture of the cutting arm in the tunnel space is solved, and then a "circular", "snake-shaped" or custom cutting trajectory is planned. The displacement sensor data of the cutting arm cylinder is converted into the heading angle and pitch angle of the cutting arm, and the automatic control of the cutting arm motion trajectory is realized based on the difference calculation method of the cutting arm motion target, which is the most common technical route in the industry. During the automatic cutting process of the roadheader, due to the changes in the occurrence conditions of coal and rock in the section, the system appropriately adjusts the swing speed of the cutting arm according to the current value of the cutting motor. When the cutting swing speed cannot be adjusted in real time or the control effect is not ideal, the fuselage is prone to deviation. The common control idea in the industry is that once the fuselage deviates, the fuselage position and attitude information provided by the integrated navigation system is used to adjust the fuselage position and attitude, thereby realizing autonomous correction control of the fuselage. In summary, although the current automatic cutting and forming control technology for tunnel section has achieved certain engineering practice results, there are still problems such as the cutting arm motion control and machine body posture control technologies that cannot adapt to on-site working conditions, and it has never achieved truly normalized operation. Summary of the invention

[0004] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides a method for controlling automatic cutting and forming of a tunnel section.

[0005] The present invention is implemented by the following technical solution: a method for controlling automatic cutting and forming of a tunnel section, comprising the following steps:

[0006] S1: Obtain the dimension information of the driving roadway, obtain the actual cross-section contour of the driving roadway according to the dimension information, and obtain the cutting cross-section contour for the roadheader to cut according to a preset ratio. Then, combine the construction technology of the roadheader to divide the cutting cross-section contour and the actual cross-section contour to obtain a cutting safety area, a cutting warning area, and a cutting danger area;

[0007] S2: Obtain the zero-degree position of the cutting arm's pitch angle, divide the actual cross-section contour into a first area and a second area according to the zero-degree position of the cutting arm's pitch angle. At the same time, obtain the position of the roadway center line, and control the cutting arm to cut towards the roadway center line position in the second area with the position of the roadway center line as a reference;

[0008] S3: Determine the critical heading angle and critical heading displacement of the roadheader when the cutting arm cuts. At the same time, obtain the real-time body heading angle and real-time body heading displacement of the roadheader when the cutting arm cuts. When the real-time body heading angle exceeds the critical heading angle, or the real-time body heading displacement exceeds the critical heading displacement, adjust the body pose of the roadheader to within the corresponding critical value range;

[0009] S4: Judge the area where the cutting arm is located. When it is in the cutting danger area, control the cutting arm to move towards the cutting warning area; when it is in the cutting warning area or the cutting safety area, control the cutting arm to perform the operation of cutting the entire cross-section into a roadway at one time.

[0010] Preferably, in step S2, it further includes:

[0011] Perform a projection based on the zero-degree position of the cutting arm's pitch angle, and use the projection of the zero-degree position of the cutting arm's pitch angle on the cutting cross-section image of the driving roadway as the boundary. The area above the projection is the first area, and the area below the projection is the second area.

[0012] Preferably, it further includes:

[0013] With the position of the roadway center line as a reference, when the cutting arm cuts in the left part of the second area, control the cutting arm to cut from the left side of the roadway towards the roadway center line direction; when the cutting arm is in the right part of the second area, control the cutting arm to cut from the right side of the roadway towards the roadway center line direction.

[0014] Preferably, controlling the cutting arm to cut towards the roadway center line position includes:

[0015] Select the data of the cylinder displacement sensor of the cutting arm, the change direction and change rate of the cutting motor current as the decision variables for controlling the cutting arm to cut, and apply the time segmentation interpolation algorithm to achieve smooth motion control of the cutting arm's swing direction and speed.

[0016] Preferably, in step S3, the moving trajectory of the tunneling equipment is planned with the goal of minimizing the posture adjustment time of the tunneling equipment body, so as to adjust the posture of the tunneling equipment body to within the corresponding critical value range.

[0017] Preferably, in step S4, when the cutting arm is in the cutting danger area, the swing speed of the cutting arm is controlled to be adjusted to a preset brushing speed value.

[0018] Preferably, step S4 further includes:

[0019] Judge the position of the cutting arm. When the cutting arm is close to the actual boundary of the actual cross-section contour of the tunneling roadway, control the cutting arm to swing in the opposite direction of the actual boundary.

[0020] Preferably, it further includes:

[0021] When the time for the cutting arm to stay at the actual boundary exceeds the preset time, control the cutting head of the cutting arm to stop operating, and control the cutting arm to move out of the coal wall until the cutting arm enters the cutting warning area, and then control the cutting head to operate.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] Starting from the actual process of the full-section one-time cutting and roadway formation construction technology of the tunneling roadway, the present invention scientifically divides the cutting area of the tunneling roadway section, plans the cutting trajectory of the cutting arm in the second area with the goal of minimizing the material accumulation at the heading face, and at the same time uses the data change direction and change rate of both the cutting arm cylinder displacement sensor and the cutting motor current as constraint conditions and realizes the smooth motion control of the swing direction and speed of the cutting arm based on the time segmentation interpolation algorithm; when the body deviates, the body posture is adjusted in real time according to the change value of the body heading angle, ensuring the safety and efficiency of the automatic cutting and forming process of the roadway section. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0025] Figure 1 is a schematic flow chart of the automatic cutting and forming control method for the tunneling roadway section provided by the embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of the division of the cutting section of the tunneling roadway;

[0027] Figure 3 is a schematic diagram of the cutting trajectory planning of the area to be cut;

[0028] Figure 4 It is a schematic diagram of the working process of the automatic cutting and forming control system for the cross-section of the driving roadway provided by the embodiment of the present invention. Detailed implementation manners

[0029] Combined with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts shall fall within the scope protected by the present invention.

[0030] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read, and are not used to limit the limiting conditions under which the present invention can be implemented. Therefore, they do not have any substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, shall fall within the scope that can be covered by the technical content disclosed by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0031] The factors affecting the quality and efficiency of the automatic cutting and forming of the cross-section of the driving roadway in the current research stage mainly include four aspects: the cutting planning trajectory does not consider minimizing the material accumulation at the working face heading, the cutting methods in different areas of the roadway cross-section are not distinguished, the selection of decision variables for the movement control of the cutting arm is unreasonable, and the body pose regulation strategy is not scientific.

[0032] When planning the cutting trajectory, in order to minimize the heaping of materials at the working face heading, since the common "loop-shaped", "snake-shaped" or custom cutting trajectories do not consider the relationship between the swing direction of the cutting arm and the falling area of the coal and rock, and the width of the roadheader's scraper plate is often smaller than the width of the roadway, there will inevitably be a problem of heaping of materials at the working face heading after the process of automatic cross-section cutting and forming is completed. It is necessary to manually clean the floating coal before the support operation can be carried out, and the true meaning of automatic cross-section cutting and forming has not been realized. For the cutting methods in different areas of the roadway cross-section, there is no scientific and reasonable zoning of the roadway cross-section according to the construction technology, and the same control strategy is adopted when the cutting arm swings to any position of the cross-section, resulting in problems such as low cutting efficiency, high probability of fuselage deviation, and poor safety. For the selection of decision variables for the motion control of the cutting arm, generally, the displacement sensor of the cutting arm cylinder and the current data of the cutting motor are set as target values of different sizes. When the real-time data is close to the target value, the driving value controlled by the corresponding solenoid valve opening is adjusted. Due to the lack of attention to the change direction and change rate of the displacement sensor of the cutting arm cylinder and the current data of the cutting motor, there are problems such as poor real-time adaptability of the swing speed control instruction with the change of the cutting load, large disturbance to the fuselage stability, and poor control effect on the roadway boundary in the process of cutting arm motion control. For the regulation of the fuselage pose, limited by the working face environment of the roadway heading and the current technical means, the integrated navigation system of the roadheader has problems such as large cumulative error over time, excessive dependence on the auxiliary positioning system, and the auxiliary positioning system is greatly affected by dust, water mist, occlusion, etc. and needs to be moved regularly. Therefore, when realizing real-time deviation correction control based on navigation data during the automatic cutting process of the roadheader, there will inevitably be problems such as great difficulty in regulating the fuselage pose and poor safety.

[0033] To solve the above problems that the technologies such as the motion control of the cutting arm and the regulation of the fuselage pose in actual work cannot adapt to the on-site working conditions, the present invention provides a control method for automatic cutting and forming of the roadway cross-section of a roadheader.

[0034] As Figure 1 shown, a schematic flow diagram of a control method for automatic cutting and forming of the roadway cross-section of a roadheader is provided, including the following steps:

[0035] S1: Obtain the size information of the roadway heading, obtain the actual cross-section contour of the roadway heading according to the size information, and divide the cutting cross-section contour for the roadheader to cut according to a preset ratio. Then, combine the construction technology of the roadheader to divide the cutting cross-section contour and the actual cross-section contour to obtain a cutting safety area, a cutting warning area, and a cutting danger area.

[0036] In this embodiment, the distance between the tunneling equipment and the tunneling roadway is measured in real time through the body ranging sensor of the tunneling equipment, so as to obtain the dimension information of the tunneling roadway, and the actual cross-section profile of the tunneling roadway is determined according to the dimension information. Then, the process parameter configuration software automatically plans a cutting area with a relatively reduced space and the same profile according to a preset ratio, which is called the cutting cross-section profile. The actual cross-section profile and the cutting cross-section profile of the tunneling roadway can be visually displayed on the host computer at the same time.

[0037] In this embodiment, according to the cutting cross-section profile and the actual cross-section profile, and in combination with the construction technology of the roadheader, the actual cutting cross-section profile and the cutting cross-section profile of the tunneling roadway are divided into a cutting safety area A1, a cutting warning area A2, and a cutting danger area A3. The specific division schematic diagram is as Figure 2 shown. In the figure, W is the width of the cutting cross-section of the tunneling roadway; H is the height of the cutting cross-section of the tunneling roadway; WD1 and HD1 are the boundary width interval and length interval between the cutting safety area A1 and the cutting warning area A2, and the sizes of both are at least the length of the cutting head diameter; WD2 and HD2 are the boundary width interval and length interval between the cutting warning area A2 and the cutting danger area A3, and the sizes of both are at least half of the cutting head diameter. In this embodiment, the cutting cross-section of the tunneling roadway is taken as a rectangle as an example, but the present invention is not limited thereto, and the corresponding areas can be divided according to the actual engineering needs.

[0038] S2: Obtain the zero-degree position of the cutting arm pitch angle, divide the actual cross-section profile into a first area and a second area according to the zero-degree position of the cutting arm pitch angle, and at the same time obtain the position of the roadway center line, and control the cutting arm to cut towards the roadway center line position in the second area with the roadway center line position as a reference.

[0039] Optionally, it further includes: projecting based on the zero-degree position of the cutting arm pitch angle, and using the projection of the zero-degree position of the cutting arm pitch angle on the cutting cross-section image of the tunneling roadway as a boundary. The upper part of the projection is the first area, and the lower part of the projection is the second area.

[0040] Optionally, it further includes: with the roadway center line position as a reference, when the cutting arm cuts in the left part of the second area, control the cutting arm to cut from the left side of the roadway towards the roadway center line direction; when the cutting arm is in the right part of the second area, control the cutting arm to cut from the right side of the roadway towards the roadway center line direction.

[0041] In this embodiment, with the projection of the zero-degree position of the cutting arm pitch angle on the cross-section as a boundary, the upper part of the projection cross-section is the first area, and the conventional cutting method is still used for cutting in this area. The lower part of the projection cross-section is the second area, and the trajectory is planned with the goal of minimizing the heaping of materials at the heading. The division of the first area and the second area and the cutting trajectory planning schematic diagram of the second area are asFigure 3 As shown in the figure, in the figure, HD is the height of the horizontal center line of the driving roadway section from the bottom plate of the driving roadway, and HD3 is the height of the cutting arm from the bottom plate of the roadway in the section projection when the pitching angle of the cutting arm is at zero degree.

[0042] Taking the position of the roadway center line as the reference, when cutting the left area, the movement trajectory of the cutting arm is to move from the left side along the arrow direction to the middle of the roadway; when cutting the right area, the movement trajectory of the cutting arm is to move from the right side along the arrow direction to the middle of the roadway. During the movement of the cutting arm, the coal and rock that fall after cutting the first area are gathered onto the scraper plate of the cutting equipment by the movement of the cutting arm itself, and then the coal and rock are transported to the transportation system behind the cutting equipment by the crawler of the driving equipment, thereby minimizing the heaping of materials on both sides of the heading face during the cutting process.

[0043] Optionally, controlling the cutting arm to cut towards the position of the roadway center line includes: selecting the data of the oil cylinder displacement sensor of the cutting arm, the change direction and change rate of the cutting motor current as the decision variables for controlling the cutting arm to perform cutting, and applying the time segmentation interpolation algorithm to realize the smooth movement control of the swinging direction and speed of the cutting arm.

[0044] In this embodiment, the data of the cutting arm oil cylinder displacement sensor, the change direction and change rate of the cutting motor current are selected as the decision variables for the movement control of the cutting arm, and the time segmentation interpolation algorithm is applied to realize the smooth movement control of the swinging direction and speed of the cutting arm. The stroke change rate of the oil cylinder changes positively with the swinging speed. The change rate of the oil cylinder displacement sensor data can quantify the stroke change rate of the oil cylinder and be used as the feedback variable for the closed-loop control of the cutting arm movement. The change rate of the cutting motor current changes positively with the swinging speed. The change process of the cutting current change rate reflects the change process of the coal and rock hardness. When the coal and rock hardness gradually becomes harder, the current changes positively violently, and vice versa, the current changes negatively violently.

[0045] S3: Determine the critical heading angle and critical heading displacement of the driving equipment when the cutting arm performs cutting, and at the same time obtain the real-time body heading angle and real-time body heading displacement of the driving equipment when the cutting arm cuts. When the real-time body heading angle exceeds the critical heading angle, or the real-time body heading displacement exceeds the critical heading displacement, adjust the body pose of the driving equipment to within the corresponding critical value range.

[0046] Optionally, plan the movement trajectory of the driving equipment with the goal of the shortest adjustment time of the body pose of the driving equipment, so as to adjust the body pose of the driving equipment to within the corresponding critical value range.

[0047] In this embodiment, during the cutting operation of the tunneling machine, the traveling mechanism of the tunneling equipment cooperates with the cutting arm to complete the operation, which not only ensures that the tunnel is completed in one time, but also avoids over-excavation and under-excavation. If the tunneling equipment body is offset by the reaction force of the coal and rock during the cutting process, but the heading angle and heading displacement of the tunneling equipment body do not reach the corresponding critical value range, the movement trajectory of the cutting arm can be adjusted to ensure that the tunnel is completed in one time, and over-excavation and under-excavation can be avoided; if the offset of the tunneling equipment body exceeds the corresponding critical value range calculated in theory, it is impossible to achieve one-time tunneling control and avoid over-excavation and under-excavation by only adjusting the cutting arm. At this time, it is necessary to adjust the tunneling equipment body so that its heading angle and heading displacement return to within the corresponding critical value.

[0048] In this embodiment, the goal is to achieve one-time cutting and forming of the tunnel section without the need for corrective control of the excavation equipment body when the heading angle of the excavation equipment body or the heading displacement of the cutting arm body changes during the cutting process. The maximum allowed heading angle of the excavation equipment body and the maximum allowed heading displacement of the excavation equipment body within the head-on range are determined, which are respectively referred to as the critical heading angle and critical heading displacement of the corrective control.

[0049] In this embodiment, during the automatic cutting process, when the heading angle scalar of the tunneling equipment body does not exceed the critical heading angle and the heading displacement scalar of the tunneling equipment body does not exceed the critical heading displacement, the tunneling equipment body is not regulated, and the full-section one-time cutting into lanes is achieved by adjusting the cutting arm movement control target angle or the cutting arm extension amount. When the heading angle scalar of the tunneling equipment body exceeds the critical heading angle or the heading displacement scalar of the tunneling equipment body exceeds the critical heading displacement, the tunneling equipment movement trajectory is planned with the shortest posture adjustment time of the tunneling equipment body as the goal, so as to adjust the posture of the tunneling equipment body to the corresponding critical value range, thereby achieving the full-section one-time cutting into lanes operation.

[0050] S4: Determine the area where the cutting arm is located. When it is in the cutting danger area, control the cutting arm to move to the cutting warning area; when it is in the cutting warning area, or the cutting safety area, control the cutting arm to perform a full-section cutting operation into a lane.

[0051] Optionally, when the cutting arm is in a dangerous cutting area, the swing speed of the cutting arm is controlled to be adjusted to a preset brushing speed value.

[0052] Optionally, the method further includes: determining the position of the cutting arm, and when the cutting arm is close to an actual boundary of the actual cross-sectional contour of the excavation tunnel, controlling the cutting arm to swing in the opposite direction of the actual boundary.

[0053] Optionally, it further includes: when the residence time of the cutting arm at the actual boundary exceeds a preset time, controlling the cutting head of the cutting arm to stop operating, and controlling the cutting arm to move out of the side until the cutting arm enters the cutting warning area, and then controlling the cutting head to operate.

[0054] In this embodiment, the area between the cutting section profile and the actual section profile is the cutting dangerous area. When the cutting arm is in this area, the swing speed of the cutting arm is controlled to be adjusted to a preset brushing speed value. When the position of the cutting arm is close to the actual boundary of the roadway, the swing direction of the cutting arm is automatically adjusted so that the cutting arm swings in the opposite direction of the actual boundary of the roadway. If the cutting arm is in the position near the actual boundary of the roadway for a long time, stop the cutting motor to make the cutting head stop operating and control the cutting arm to move out of the side until the cutting head operates again when the cutting arm enters the section warning area.

[0055] In this embodiment, the process of the cutting head entering the actual section profile of the driving roadway from the cutting section profile is called entering the side, that is, the section cutting is formed and enters the final stages of brushing the side, cutting the top, and planing the bottom. Conversely, it is called moving out of the side.

[0056] To introduce the automatic cutting forming control method for the driving roadway section provided by the present application in more detail and comprehensively, as Figure 4 shown is a schematic diagram of the working process of an automatic cutting forming control system for a driving roadway section provided by an embodiment of the present invention.

[0057] In the embodiment of the present invention, four subsystems are constructed, namely, a section area division and cutting trajectory planning system, a cutting arm motion control system, a driving system fuselage pose regulation system, and a section forming boundary control system.

[0058] The section area division and cutting trajectory planning system is the basis for realizing the cutting forming of the driving roadway section. Based on the roadway dimensions, the dimensions of the cutting arm and cutting head of the roadheader and integrating the combined navigation data, the pose solution of the cutting arm in the roadway space is realized, the coordinate information of the cutting head is projected onto the section, and the projected area is divided into a safe area, a warning area, and a dangerous area in combination with the driving process, so as to realize efficient cutting in the safe area, speed reduction cutting in the warning area, and safe cutting in the dangerous area to avoid over-excavation and under-excavation.

[0059] During the cutting process of the roadheader, when viewed from the rear of the machine body, the cutting head rotates clockwise. Therefore, the area where the coal and rock fall when the cutting arm swings left and right is basically the same as the swinging direction of the cutting arm. And when cutting the lower part of the cross-section, the problem of material accumulation on both sides of the heading face is obvious. In the embodiment of the present invention, the projection of the horizontal position of the cutting arm on the cross-section is used as the boundary. That is, when the pitch angle of the cutting arm is close to zero degree, the trajectory of the cross-section above the projection is still planned according to the conventional method. To prevent material accumulation on both sides of the heading face during the cutting process, for the lower cross-section, with the center line of the roadway as the reference, when cutting the left area, the movement trajectory of the cutting arm is from the left side of the roadway to the middle of the roadway; when cutting the right area, the movement trajectory of the cutting arm is from the right side of the roadway to the middle of the roadway.

[0060] The movement control system of the cutting arm is the key link to realize the cutting and forming of the roadway cross-section. The data of the cutting arm cylinder displacement sensor is converted into the heading angle and pitch angle of the cutting arm, and the attitude angle information of the cutting arm in the body coordinate system is transformed into the attitude angle information of the cutting arm in the roadway coordinate system, and then the attitude angle information of the cutting arm in the roadway coordinate system is obtained. When the cutting head is at different positions at the heading face of the cross-section, the rate of change of the cylinder stroke changes positively with the swinging speed. The rate of change of the cylinder stroke can be quantified through the rate of change of the data of the cutting arm cylinder displacement sensor. When encountering coal and rock loads with different hardnesses during the cutting process, the rate of change of the cutting motor current changes positively with the swinging speed. The rate of change of the cutting current reflects the change process of the coal and rock hardness. The change process of the coal and rock hardness is gradually becoming harder, and the positive change of the current is intense, otherwise the reverse change of the current is intense. When the cutting head is in different areas, based on the data of the cutting arm cylinder displacement sensor, the change direction and rate of change of the cutting motor current, the time segmentation interpolation algorithm is applied to realize the smooth movement control of the swinging direction and speed of the cutting arm, which not only ensures the cutting efficiency, but also realizes the safety control of the cross-section cutting and forming.

[0061] The body attitude control system of the tunneling system ensures the cutting efficiency and quality of the tunneling roadway section. According to the magnitude of the body heading angle or heading displacement value, it determines which control strategy to select to adjust the control system parameters, minimizing the dependence of the control system on the body attitude calculation data of the navigation system. First, it is determined that during the cutting process, when there are changes in the body heading angle or body heading displacement, the maximum allowable body heading angle and the maximum allowable body heading displacement within the heading range that can still achieve one-time forming of the roadway section without the need for body deviation correction control are respectively called the critical heading angle and critical heading displacement of the deviation correction control. During the automatic cutting process, when the scalar of the body heading angle does not exceed the critical heading angle and the scalar of the body heading displacement does not exceed the critical heading displacement, the body is not adjusted, and the full-section one-time cutting into the roadway is achieved by adjusting the target angle of the cutting arm movement or the telescopic amount of the cutting arm. When the scalar of the body heading angle exceeds the critical heading angle or the scalar of the body heading displacement exceeds the critical heading displacement, the walking trajectory is planned with the goal of minimizing the time of the body attitude adjustment process, and both the body heading angle and the heading displacement are adjusted to within the critical value range, thereby achieving the full-section one-time cutting into the roadway.

[0062] The section forming boundary control system is the final stage of the tunneling roadway section cutting and forming. The quality of its control effect directly determines the quality and safety of the roadway forming. Based on the cutting head entering and exiting the rib process and the planned swinging speed of the cutting arm for rib brushing, the forming control of the roof, two ribs, and floor boundaries is completed, and over-excavation and under-excavation are avoided as much as possible. Based on the actual size of the current section, the process parameter configuration software automatically plans a cutting area with a relatively reduced space, called the cutting section contour. The distance between this area and the actual section contour of the roadway in the height and width directions of the roadway is at least the diameter of the cutting head. The actual section contour and the cutting section contour of the roadway are both visually displayed on the upper computer. The process of the cutting head entering the actual section contour from the cutting section contour is called entering the rib, that is, the section cutting and forming enters the final rib brushing, roof cutting, and bottom planing stages. Conversely, it is called exiting the rib. The area between the cutting section contour and the actual section contour of the roadway is the cutting dangerous area. When the cutting arm is in this area, the control system automatically adjusts the swinging speed to the rib brushing speed value. When the position of the cutting arm is close to the actual boundary of the roadway, the control system automatically adjusts the swinging direction to make the cutting arm swing in the opposite direction of the roadway boundary. If the cutting arm stays near the actual boundary of the roadway for a long time, the cutting motor is stopped to stop the cutting head from running and the cutting arm is controlled to exit the rib until the cutting head runs again when the cutting arm enters the section warning area.

[0063] Combined with the construction technology of roadheader, the roadway section is divided into a safety area, a warning area and a danger area. Different control strategies are adopted when the cutting arm swings to different areas of the section, so as to achieve efficient cutting in the safety area, cutting at a reduced speed in the warning area, and safe cutting in the danger area, which helps to solve the problems such as low efficiency of automatic cutting, large probability of fuselage deviation and poor safety. When cutting the lower part of the section, the cutting trajectory is planned with the goal of minimizing the heaping of materials at the heading face. The coal and rock under the section are gathered towards the scraper plate by the movement of the cutting arm itself, and the coal and rock are transported to the rear transportation system by the climbing claws, so as to minimize the heaping of materials on both sides of the heading face during the cutting process to the greatest extent and provide a matching working environment for the support operation. By selecting the data of the cutting arm cylinder displacement sensor, the change direction and change rate of the cutting motor current as the decision variables for the movement control of the cutting arm, and applying the time segmentation interpolation algorithm to realize the smooth movement control of the swing direction and speed of the cutting arm, it has important practical significance for solving the problems such as poor real-time adaptability of the swing speed control command with the change of cutting load, large disturbance to the fuselage stability and poor control effect of the roadway boundary in the process of cutting arm movement control.

[0064] By determining that when there is a change in the fuselage heading angle or fuselage heading displacement during the cutting process, it is still possible to achieve one-time forming of the roadway section cutting without the need to correct the deviation of the fuselage. The maximum allowable fuselage heading angle and the maximum allowable fuselage heading displacement within the heading face range of the system provide a decision-making basis for adjusting the target angle of the cutting arm movement control or the telescopic amount of the cutting arm to achieve one-time cutting and roadway formation of the full section, and to avoid to the greatest extent the problems such as large difficulty in adjusting the fuselage position and pose and poor safety caused by over-reliance on navigation data for real-time deviation correction control during the automatic cutting process of the roadheader. By planning the in-bank and out-bank boundaries of the roadheader cutting head and determining the section forming boundary control method, over-excavation and under-excavation are avoided to the greatest extent, and the safety and efficiency of the automatic cutting and forming process of the roadway section are improved.

[0065] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for controlling automatic cutting and forming of tunnel section, characterized in that: The steps include: S1: Acquire the size information of the tunneling tunnel, obtain the actual cross-sectional profile of the tunneling tunnel according to the size information, and obtain the cutting cross-sectional profile of the tunneling equipment according to a preset ratio, and then divide the cutting cross-sectional profile and the actual cross-sectional profile into regions in combination with the tunneling machine construction process to obtain a cutting safety area, a cutting warning area, and a cutting danger area; S2: Acquire the pitch angle zero position of the cutting arm, and divide the actual cross-sectional profile into a first area and a second area according to the pitch angle zero position of the cutting arm, and simultaneously acquire the centerline position of the tunnel, and control the cutting arm to cut toward the centerline position of the tunnel in the second area based on the centerline position of the tunnel; S3: determining a critical heading angle and a critical heading displacement of the tunneling equipment when the cutting arm is cutting, and obtaining a real-time body heading angle and a real-time body heading displacement of the tunneling equipment when the cutting arm is cutting, and when the real-time body heading angle exceeds the critical heading angle, or the real-time body heading displacement exceeds the critical heading displacement, adjusting the body posture of the tunneling equipment to a corresponding critical value range; S4: Determine the area where the cutting arm is located. When it is in the cutting danger area, control the cutting arm to move to the cutting warning area; when it is in the cutting warning area, or the cutting safety area, control the cutting arm to perform a full-section cutting operation into a lane.

2. The method for controlling the automatic cutting and forming of a tunnel section according to claim 1, characterized in that: Step S2 also includes: The projection is performed based on the zero-degree position of the pitch angle of the cutting arm, and the boundary is divided by the projection of the zero-degree position of the pitch angle of the cutting arm on the cutting cross-sectional image of the excavation tunnel, the first area is above the projection, and the second area is below the projection.

3. The method for controlling the automatic cutting and forming of a tunnel section according to claim 2, characterized in that: Also includes: Taking the centerline position of the tunnel as a reference, when the cutting arm is cutting in the left part of the second area, the cutting arm is controlled to cut from the left side of the tunnel toward the centerline of the tunnel; when the cutting arm is in the right part of the second area, the cutting arm is controlled to cut from the right side of the tunnel toward the centerline of the tunnel.

4. The method for controlling the automatic cutting and forming of a tunnel section according to claim 1, characterized in that: The controlling cutting arm to cut toward the center line of the tunnel comprises: The displacement sensor data of the cutting arm's cylinder, the direction and rate of change of the cutting motor current are selected as decision variables for controlling the cutting arm to perform cutting, and the time division interpolation algorithm is applied to achieve smooth motion control of the cutting arm's swing direction and speed.

5. The method for controlling the automatic cutting and forming of a tunnel section according to claim 1, characterized in that: In step S3, the moving trajectory of the tunneling equipment is planned with the goal of minimizing the time for adjusting the posture of the tunneling equipment body, so as to adjust the posture of the tunneling equipment body to within the corresponding critical value range.

6. The method for controlling the automatic cutting and forming of a tunnel section according to claim 1, characterized in that: In step S4, when the cutting arm is in the cutting danger zone, the swing speed of the cutting arm is controlled to be adjusted to a preset brushing speed value.

7. The method for controlling the automatic cutting and forming of a tunnel section according to claim 1, characterized in that: Step S4 also includes: The position of the cutting arm is determined, and when the cutting arm is close to the actual boundary of the actual cross-sectional contour of the excavation tunnel, the cutting arm is controlled to swing in the opposite direction of the actual boundary.

8. The method for controlling the automatic cutting and forming of the tunnel section according to claim 7, characterized in that: Also includes: When the cutting arm stays at the actual boundary for longer than a preset time, the cutting head of the cutting arm is controlled to stop running, and the cutting arm is controlled to move out of the way until the cutting arm enters the cutting warning area, and then the cutting head is controlled to run.

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